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<h1 class="reftitle">exportToC</h1>
<h2>Purpose</h2>
<p>Export the explicit controller to C-code</p>
<h2>Syntax</h2>
<pre class="synopsis">controller.exportToC</pre>
<pre class="synopsis">controller.exportToC('filename')</pre>
<pre class="synopsis">controller.exportToC('filename','dirname')</pre>
<h2>Description</h2>
<p></p> 
      The routine <tt>exportToC</tt> generates C-code from the explicit <tt>controller</tt>. 
      A new directory is always created with the generated code. If no name of the 
      directory is provided in the second argument, the default name for the directory is
      <tt>mpt_explicit_controller</tt>. If no file name is specified, the default name for the files
      to to be generated is <tt>mpt_getInput</tt>. The directory contains three files:
      <ul>
          
         <li>
            <tt>mpt_getInput.c</tt> - The routine for evaluation of PWA control law.</li>
          
         <li>
            <tt>mpt_getInput_mex.c</tt> - The mex interface for evaluation using Matlab. </li>
          
         <li>
            <tt>mpt_getInput_sfunc.c</tt> - The Simulink interface for evaluation using the <tt>mpt_sim</tt> library. </li>
      
      </ul>
      The generated code can be used for fast evaluation of PWA control law. The generated mex interface file can
      be compiled in Matlab (assuming that a C-compiler is installed and recognized in Matlab)<br><br>
      
      <tt>mex mpt_getInput_mex.c</tt>
      <br><br>
      and evaluated for a particular value of the parameters. 
      
      The Simulink interface is given by <tt>mpt_getInput_sfunc.c</tt> file. To compile the file, 
      type in Matlab<br><br>
      
      <tt>mex mpt_getInput_sfunc.c</tt>.<br><br>
      After succesful compilation, the generated mex-file can be evaluated within Simulink. For this purpose using
      one can deploy the controller block from MPT Simulink library <tt>mpt_sim</tt>.
      
  <h2>Input Arguments</h2>
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<td><tt>filename</tt></td>
<td>
<p></p>Name of the header file to be generated.<p>
	    		Class: <tt>char</tt></p>
</td>
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<td><tt>dirname</tt></td>
<td>
<p></p>Name of the directory to be generated.<p>
	    		Class: <tt>char</tt></p>
</td>
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<br><p>©  <b>2010-2013</b>     Martin Herceg: ETH Zurich,    <a href="mailto:herceg@control.ee.ethz.ch">herceg@control.ee.ethz.ch</a></p>
<p>©  <b>2003-2013</b>     Michal Kvasnica: STU Bratislava,    <a href="mailto:michal.kvasnica@stuba.sk">michal.kvasnica@stuba.sk</a></p>
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